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AP_IOMCU: added IOMCU time since boot to protocol

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and optional watchdog testing using safety switch
(compile time option)
This commit is contained in:
Andrew Tridgell 2019-04-24 11:33:42 +10:00
parent af54e8620e
commit d4c68da76e
2 changed files with 22 additions and 2 deletions
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21
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -25,6 +25,7 @@
#include <AP_HAL_ChibiOS/RCOutput.h>
#include "analog.h"
#include "rc.h"
#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
extern const AP_HAL::HAL &hal;
@ -40,6 +41,9 @@ void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
// enable testing of IOMCU watchdog using safety switch
#define IOMCU_ENABLE_WATCHDOG_TEST 0
// pending events on the main thread
enum ioevents {
IOEVENT_PWM=1,
@ -207,6 +211,7 @@ void AP_IOMCU_FW::update()
}
uint32_t now = last_ms;
reg_status.timestamp_ms = last_ms;
// output SBUS if enabled
if ((reg_setup.features & P_SETUP_FEATURES_SBUS1_OUT) &&
@ -672,6 +677,22 @@ void AP_IOMCU_FW::safety_update(void)
}
}
#if IOMCU_ENABLE_WATCHDOG_TEST
if (safety_button_counter == 50) {
// deliberate lockup of IOMCU on 5s button press, for testing
// watchdog
while (true) {
hal.scheduler->delay(50);
palToggleLine(HAL_GPIO_PIN_SAFETY_LED);
if (palReadLine(HAL_GPIO_PIN_SAFETY_INPUT)) {
// only trigger watchdog on button release, so we
// don't end up stuck in the bootloader
stm32_watchdog_pat();
}
}
}
#endif
led_counter = (led_counter+1) % 16;
const uint16_t led_pattern = reg_status.flag_safety_off?0xFFFF:0x5500;
palWriteLine(HAL_GPIO_PIN_SAFETY_LED, (led_pattern & (1U << led_counter))?0:1);

3
libraries/AP_IOMCU/iofirmware/ioprotocol.h
View File

@ -125,8 +125,7 @@ struct PACKED page_reg_status {
uint16_t flag_rc_sumd_srxl:1;
uint16_t alarms;
uint16_t vbatt;
uint16_t ibatt;
uint32_t timestamp_ms;
uint16_t vservo;
uint16_t vrssi;
uint16_t prssi;